Preliminary analysis of the operating conditions of the wheel drive of the in-pipe diagnostic module

Preliminary analysis of the operating conditions of the wheel drive of the in-pipe diagnostic module

Roman Yu. Dobretsov
Doctor of Technical Sciences, Associate Professor, Peter the Great St. Petersburg Polytechnic University (SPbPU), Professor, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, tel.: +7(812)775-05-30; Russian State Scientific Center for Robotics and Technical Cybernetics (RTC), Leading Engineer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77; This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-3827-0220

Dmitrii S. Popov
PhD in Engineering, RTC, Deputy Chief Designer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0003-4575-9195

Vladislav A. Volkov
RTC, Designer, 21 Tikhoretsky Av., Saint-Petersburg, 194064, Russia, tel.: +7(812)552-04-77, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexander V. Lopota
Doctor of Technical Science, Associate Professor, RTC, Director and Chief Designer, 21, Tikhoretsky pr., Saint Petersburg, 194064, Russia, tel.: +7(812)552-01-10, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID:0000-0001-8095-9905

Received August 12, 2024

Abstract
The issue of logistical support for in-pipe diagnostics for pipelines of various diameters is relevant, many technical solutions for its implementation have been proposed. Modules capable of moving inside pipelines are often based on a wheeled chassis. When designing the transport system of such a robot, «general engineering» approaches are usually used. Within the framework of this paper, the experience of transport engineering is used to analyze the specifics of the mover operation. The processes of load distribution and formation of normal, longitudinal and transverse reactions on the wheels of a three-support block as part of the transport system of an in-pipe diagnostics module are considered. Ways to improve the energy efficiency of the transport system of the robot are proposed.

Key words
Mobile robot, transport system, support reactions, wheel rolling, in-pipe diagnostics.

Acknowledgements
The work was carried out within the framework of R&D carried out by the Russian State Scientific Center for Robotics and Technical Cybernetics in the implementation of a comprehensive project to create a high-tech production «Development of a robotic diagnostic complex for in-line inspection of pipelines» with financial support from the Ministry of Science and Higher Education of the Russian Federation; subsidy agreement No. 075-11-2022-035.

DOI
10.31776/RTCJ.12409

Bibliographic description
Dobretsov, R.Yu., Popov, D.S., Volkov, V.A. and Lopota, A.V. (2024), "Preliminary analysis of the operating conditions of the wheel drive of the in-pipe diagnostic module", Robotics and Technical Cybernetics, vol. 12, no. 4, pp. 315-320, DOI: 10.31776/RTCJ.12409. (in Russian).

UDC identifier
629.3.023.1:007.52

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